aidi_scenario_editor

This is rviz plugin to edit scenario for Ai Driving Instructure application using Rviz. Written in C++ and Qt.

Requirement

• ROS (tested in melodic)

Install/Build

No additional package required

mkdir -p catkin_make/src
cd catkin_make/src
catkin_init_workspace
git clone git@github.com:kuriatsu/scenario_editor_plugin.git
cd ..
catkin_make

How to use

Start

1. Start Rviz

   roscore
   rviz

2. Add panel
   
3. Import File and click OK
   
4. Add visualization topic
   
5. Click Scenario tab
   
6. Focus on the map coodinate (It's better to inport pcl/lanelet map and publish static tf for /map) or you must adjust current view position manually.
   
7. Start Editing

Interface

• Layer : Edit layer (layer=0 means 0-300 waypoints are editing target)
• Layer Size : Editor batch size of waypoint
• Add Scenario Add new scenario
• Remove Scenario : Remove selected scenario
• Scenario / Start / End : Selected scenario info
• List view :
  • Left : Not added errors in selected scenario
  • Right : Added errors
• Speed Limit : Speed Limit value of selected scenario
• Error Info : Description of selected error
  • Highlight : Highlight selected error in 3D view

Edit existing scenario

• add/remove error id
  1. Double click error item in left box to add
  2. Double click error item in right box to remove
• move checkpoint position
  1. Move circle around point in 3Dview (Realigned on the current waypoints when released)
     
  2. If the direction is wrong, start and end id turn to Red. Swap start and end point.
     

Add new scenario

1. Click Add Scenario button. (All waypoints appear)
2. Select Start point from 3D view
3. Select End point from 3D view

Remove scenario

1. Select scenario
2. Click Remove Scenario

Contribution

Recommended Tool

• qt_designer
• qt_creator

1. Fork
2. Clone
3. Create Pull Request

Change Log

• 2021/9/19 : First Release

Todo

• Add doxygen
• Handle Japanese character